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Satisfiability Problem G22.2390-001 Logic in Computer Science Fall 2007 Lecture 8 1 Review Last time • Compactness • Enumerability Theorem • Definability of Models • Finite Models • Size of Models 2 Outline • Theories • Congruence Closure • Interpretations Between Theories Sources: Sections 2.6 through 2.7 of Enderton. Z. Manna and C. Zarba. Combining Decision Procedures. Draft available from http://theory.stanford.edu/∼zm/new-papers.html. G. Nelson and D. Oppen. Fast Decision Procedures Based on Congruence Closure. JACM 27(2), 1980, pp. 356-364. P. Downey, R. Sethi, and R. Tarjan. Variations on the Common Subexpression Problem. JACM 27(4), 1980, pp. 758-771. 3 Size of Models The cardinality |L| of a language L is the least infinite cardinal greater than or equal to the number of symbols in the signature of L. The cardinality |M| of a model M is the cardinality of its domain dom(M). Lowenheim-Skolem¨ (LS) Theorem Let Γ be a satisfiable set of formulas in a language L, then Γ is satisfiable in some model of cardinality κ ≤|L|. Proof By soundness, Γ is consistent, and is thus satisfiable by the model constructed in the proof of the completeness theorem. But the domain of that model is M/E which has cardinality ≤|M|, and |M| = |L|. 2 4 Size of Models “Skolem’s paradox” Let AST be your favorite set of axioms for set theory. If they are consistent, they have a model. Because the signature of the language of set theory is finite, there is a countable model. But we can prove, starting with the axioms of set theory, that there are “uncountably” many sets. How is this possible? 5 Size of Models “Skolem’s paradox” Let AST be your favorite set of axioms for set theory. If they are consistent, they have a model. Because the signature of the language of set theory is finite, there is a countable model. But we can prove, starting with the axioms of set theory, that there are “uncountably” many sets. How is this possible? The answer is that in the countable model of set theory, things do not correspond to what we normally think of as the model of set theory. Thus, the model of the “natural numbers” in the countable model cannot be put in one-to-one correspondence with all of the elements of the model. But this does not mean that the size of the model is truly uncountable. 5-a Size of Models LST Theorem Let Γ be a set of formulas in a language of cardinality κ, and assume that Γ is satisfiable in some infinite model. Then for every cardinal λ ≥ κ, there is a model of cardinality λ in which Γ is satisfiable. Proof Let M be an infinite model where Γ is satisfiable. Expand the language by adding a set C of λ new constant symbols. Let ∆= {c1 6= c2 | c1,c2 are ′ distinct members of C}. Then, any finite subset Γ0 of Γ ∪ ∆ is satisfiable in M ′ where M is M extended to map all constants in Γ0 to different elements of M . By compactness, Γ ∪ ∆ is satisfiable. By the LS Theorem, there is a model of cardinality ≤ λ. But any model must have at least cardinality λ. Thus there is a model of cardinality λ. 2 6 Size of Models Corollary If Γ is a set of sentences in a countable language, then if Γ has some infinite model, it has models of every infinite cardinality. ′ Two models M and M with the same signature are elementarily equivalent ′ (M ≡ M ) iff for any sentence σ, |=M σ iff |=M ′ σ. Corollary If M is an infinite model for a countable language, then for any infinite cardinal λ, ′ ′ there is a model M of cardinality λ such that M ≡ M . Proof Let Γ be the set of all sentences true in M . By the corollary above, Γ has a ′ model M of cardinality λ. But note that for every sentence σ, either σ ∈ Γ or ′ ¬σ ∈ Γ (why?). Thus, M ≡ M . 2 7 Theories Last time, we defined a theory as a set of first-order sentences. For this lecture we will refine our definition to be a set of first-order sentences closed under logical implication. Thus, T is a theory iff T is a set of sentences and if T |= σ, then σ ∈ T for every sentence σ. Examples • For a given signature, the smallest possible theory consists of exactly the valid sentences over that signature. • The largest theory for a given signature is the set of all sentences. It is the only unsatisfiable theory. Why? 8 Theories For a class K of models over a given signature Σ, define the theory of K as Th K = {σ | σ is a Σ-sentence which is true in every model in K}. Theorem Th K is indeed a theory. Proof Suppose Th K|= σ. We know that |=M Th K for each M in K. It follows that |=M σ for each M in K, and thus σ ∈ Th K. 2 Suppose Γ is a set of sentences. Define the set Cn Γ of consequences of Γ to be {σ | Γ |= σ}. Then Cn Γ= Th Mod Γ. 9 Theories A theory T is complete iff for every sentence σ, either σ ∈ T or (¬σ) ∈ T . Note that if M is a model, then Th {M} is complete. In fact, for a class K of models, Th K is complete iff any two members of K are elementarily equivalent. A theory T is axiomatizable iff there is a decidable set Γ of sentences such that T = Cn Γ. A theory T is finitely axiomatizable iff T = Cn Γ for some finite set Γ of sentences. Theorem If Cn Γ is finitely axiomatizable, then there is a finite Γ0 ⊆ Γ such that Cn Γ0 = Cn Γ. Proof If Cn Γ is finitely axiomatizable, then for some sentence τ , Cn Γ= Cn τ . Clearly, Γ |= τ . By compactness, we have that there exists Γ0 ⊆ Γ such that Γ0 |= τ . Thus, Cn τ ⊆ Cn Γ0 ⊆ Cn Γ, and since Cn Γ= Cn τ , it follows that Cn Γ0 = Cn Γ. 2 10 Theories Using the above terminology, we can restate our earlier results as follows: • An axiomatizable theory (in a reasonable language) is effectively enumerable. • A complete axiomatizable theory (in a reasonable language) is decidable. Our results about theories can be summarized in the following diagram. Decidable Finitely axiomatizable if complete Effectively Enumerable Axiomatizable 11 Los-Vaught Test For a theory T and a cardinal λ, say that T is λ-categorical iff all models of T having cardinality λ are isomorphic. Theorem Let T be a theory in a countable language such that • T is λ-categorical for some infinite cardinal λ. • All models of T are infinite. Then T is complete. Proof ′ ′ It suffices to show that for any two models M and M of T , M ≡ M . Since M ′ and M are infinite, there exist (by LST) elementarily equivalent models of cardinality λ. But these models must be isomorphic, and by the homomorphism theorem, isomorphic models are elementarily equivalent. 2 12 Validity and Satisfiability Modulo Theories Given a Σ-theory T ,a Σ-formula φ is 1. T -valid if |=M φ[s] for all models M of T and all variable assignments s. 2. T -satisfiable if there exists some model M of T and variable assignment s such that |=M φ[s]. 3. T -unsatisfiable if 6|=M φ[s] for all models M of T and all variable assignments s. The validity problem for T is the problem of deciding, for each Σ-formula φ, whether φ is T -valid. The satisfiability problem for T is the problem of deciding, for each Σ-formula φ, whether φ is T -satisfiable. Similarly, one can define the quantifier-free validity problem and the quantifier-free satisfiability problem for a Σ-theory T by restricting the formula φ to be quantifier-free. 13 Validity and Satisfiability Modulo Theories A decision problem is decidable if there exists an effective procedure which always terminates with an answer for any given instance of the problem. For example, the validity problem for a Σ-theory T is decidable if there exists an effective procedure for determining whether T |= φ for every Σ-formula φ. Note that validity problems can always be reduced to satisfiability problems: φ is T -valid iff ¬φ is T -unsatisfiable. We will consider a few examples of theories which are of particular interest in verification applications. 14 The Theory TE of Equality The theory TE of equality is the theory Cn ∅. Note that the exact set of sentences in TE depends on the signature in question. The theory does not restrict the possible values of symbols in any way. For this reason, it is sometimes called the theory of equality with uninterpreted functions (EUF). The satisfiability problem for TE is just the satisfiability problem for first order logic, which is undecidable. The satisfiability problem for conjunctions of literals in TE is decidable in polynomial time using congruence closure. 15 The Theory TZ of Integers Let ΣZ be the signature (0, 1, +, −, ≤). Let AZ be the standard model of the integers with domain Z. Then TZ is defined to be Th AZ . As showed by Presburger in 1929, the validity problem for TZ is decidable, but its complexity is triply-exponential. The quantifier-free satisfiability problem for TZ is “only” NP-complete. × Let ΣZ be the same as ΣZ with the addition of the symbol × for multiplication, × × and define AZ and TZ in the obvious way.
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